Controller Design on Dynamic Positioning of Nonlinear Offshore Platform under Stochastic Wave

In this paper, controller on dynamic positioning of nonlinear offshore platform under stochastic wave is designed based on rolling horizon optimization. In order to improve the efficiency of searching for optimum controller sequence, controller structure based on the output of proportional-integral-differential is brought out. The method above is of feed-forward characteristics using predictive controller and feedback characteristics using proportional-integral-differential controller. The controlled system is of fast convergence. And performance indexes of least fuel, least time and least overshoot, rolling horizon optimization are implemented to improve the whole performance. Examples are given to illustrate the application of the method and simulation shows the efficiency of control strategy and controller.